No, sorry, but I disagree. Player that want to treat their followers as stupid automatons devoid of will or sense of self-preservation are not a problem with the rules, they are a table problem (or more, a problem player).
Just adding this '' and will leave if they are frequently endangered or abused. '' (from the Retainer feature of the Knight background) already solve 99% of problem with player abusing stuff. The remaining 1% is generally handle by the ultimate rule :'' Dont be a d*ck!''.
I generally define the ''obey your commands'' clause of familiars and such as having the same limits as Suggestion spells: ''The
suggestion must be worded in such a manner as to make the course of action sound reasonable. Asking the creature to stab itself, throw itself onto a spear, immolate itself, or do some other obviously harmful act
ends the spell result in the follower/familiar to ignore the command and acts on its own, focusing on protecting itself . ''
But I trust my players, I dont think having a bunch of rules to keep them in leash and refrain them from abusing NPC would not be necessary. Anyway, I'm the DM, if players abuse followers, I can have the follower reveal itself as an hidden avatar of Jorglub, Major Deity of Shut-Up-Carl!, and smash their abuser. If they act like juvenile pricks, I can too